/* USER CODE BEGIN Header */
/**
 ******************************************************************************
 * @file           : main.c
 * @brief          : Main program body
 ******************************************************************************
 * @attention
 *
 * <h2><center>&copy; Copyright (c) 2021 STMicroelectronics.
 * All rights reserved.</center></h2>
 *
 * This software component is licensed by ST under BSD 3-Clause license,
 * the "License"; You may not use this file except in compliance with the
 * License. You may obtain a copy of the License at:
 *                        opensource.org/licenses/BSD-3-Clause
 *
 ******************************************************************************
 */
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "main.h"

#include "can.h"
#include "dma.h"
#include "gpio.h"
#include "tim.h"
#include "usart.h"

/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include <stdlib.h>

#include "../Device/cmd.h"
#include "../Device/key.h"
#include "../Device/led.h"
#include "../Device/motor.h"
/* USER CODE END Includes */

/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN PTD */

/* USER CODE END PTD */

/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */
/* USER CODE END PD */

/* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN PM */

/* USER CODE END PM */

/* Private variables ---------------------------------------------------------*/

/* USER CODE BEGIN PV */
uint32_t system_time_ms = 0;
uint32_t system_time_s = 0;
float timeout = 2.5;
enum { MODE_RELAX, MODE_NORMAL, MODE_TEST_LED, MODE_EASY } mode;
bool motor_anti;
/* USER CODE END PV */

/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
/* USER CODE BEGIN PFP */

/* USER CODE END PFP */

/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */
/* USER CODE END 0 */

/**
 * @brief  The application entry point.
 * @retval int
 */
int main(void) {
  /* USER CODE BEGIN 1 */

  /* USER CODE END 1 */

  /* MCU Configuration--------------------------------------------------------*/

  /* Reset of all peripherals, Initializes the Flash interface and the Systick.
   */
  HAL_Init();

  /* USER CODE BEGIN Init */

  /* USER CODE END Init */

  /* Configure the system clock */
  SystemClock_Config();

  /* USER CODE BEGIN SysInit */

  /* USER CODE END SysInit */

  /* Initialize all configured peripherals */
  MX_GPIO_Init();
  MX_DMA_Init();
  MX_CAN_Init();
  MX_USART1_UART_Init();
  MX_TIM2_Init();
  MX_TIM1_Init();
  MX_TIM3_Init();
  MX_TIM4_Init();
  /* USER CODE BEGIN 2 */
  Motor_Init();
  LED_Init();
  CMD_Init();
  CMD_t cmd_tmp;
  /* USER CODE END 2 */

  /* Infinite loop */
  /* USER CODE BEGIN WHILE */
  while (1) {
    HAL_Delay(30);
    LED_Update(mode == MODE_TEST_LED);
    cmd_tmp = CMD_PraseData();
    switch (cmd_tmp) {
      case CMD_NULL:
        break;
      case CMD_STOP:
        HAL_TIM_Base_MspDeInit(&htim4);
        Motor_Output(0.0f);
        LED_Reset();
        break;
      case CMD_RESET:
        HAL_TIM_Base_MspDeInit(&htim4);
        Motor_Output(0.0f);
        LED_Reset();
        NVIC_SystemReset();
        break;
      case CMD_EASY:
        mode = MODE_EASY;
        break;
      case CMD_NORMAL:
        mode = MODE_NORMAL;
        break;
      case CMD_TEST_LED:
        mode = MODE_TEST_LED;
        break;
      case CMD_ANTI:
        motor_anti = !motor_anti;
    }
    if (system_time_ms < 500)
      HAL_GPIO_WritePin(BOARD_LED_GPIO_Port, BOARD_LED_Pin, GPIO_PIN_SET);
    else
      HAL_GPIO_WritePin(BOARD_LED_GPIO_Port, BOARD_LED_Pin, GPIO_PIN_RESET);
    /* USER CODE END WHILE */
    /* USER CODE BEGIN 3 */
  }
  /* USER CODE END 3 */
}

/**
 * @brief System Clock Configuration
 * @retval None
 */
void SystemClock_Config(void) {
  RCC_OscInitTypeDef RCC_OscInitStruct = {0};
  RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};

  /** Initializes the RCC Oscillators according to the specified parameters
   * in the RCC_OscInitTypeDef structure.
   */
  RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;
  RCC_OscInitStruct.HSEState = RCC_HSE_ON;
  RCC_OscInitStruct.HSEPredivValue = RCC_HSE_PREDIV_DIV1;
  RCC_OscInitStruct.HSIState = RCC_HSI_ON;
  RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
  RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
  RCC_OscInitStruct.PLL.PLLMUL = RCC_PLL_MUL9;
  if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK) {
    Error_Handler();
  }
  /** Initializes the CPU, AHB and APB buses clocks
   */
  RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK | RCC_CLOCKTYPE_SYSCLK |
                                RCC_CLOCKTYPE_PCLK1 | RCC_CLOCKTYPE_PCLK2;
  RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
  RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
  RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV2;
  RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;

  if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_2) != HAL_OK) {
    Error_Handler();
  }
}

/* USER CODE BEGIN 4 */
void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim) {
  if (system_time_ms < 1000)
    system_time_ms++;
  else {
    system_time_ms = 0;
    system_time_s++;
  }

  Motor_PraseData();
  if (mode == MODE_RELAX)
    Motor_Output(0.0f);
  else
    Motor_Control(motor_anti);

  Key_Name_t name = Key_Scan();
  if (name != KEY_NUMBER) { /* 检测到打击 */
    timeout = TIME + 2.5;
    if (LED_CheckLeaf((LED_Leaf_Name_t)name)) {
      LED_EnableOneLeaf();
    } else {
      LED_Reset();
    }
  }
  /* 超时 */
  if (TIME > timeout) {
    timeout = TIME + 2.5;
    if (mode == MODE_EASY) {
      LED_EnableOneLeaf();
    } else {
      LED_Reset();
    }
  }

  CMD_Report(Motor_GetSetpoint(), Motor_GetFeedback());
}
/* USER CODE END 4 */

/**
 * @brief  This function is executed in case of error occurrence.
 * @retval None
 */
void Error_Handler(void) {
  /* USER CODE BEGIN Error_Handler_Debug */
  /* User can add his own implementation to report the HAL error return state */
  __disable_irq();
  while (1) {
  }
  /* USER CODE END Error_Handler_Debug */
}

#ifdef USE_FULL_ASSERT
/**
 * @brief  Reports the name of the source file and the source line number
 *         where the assert_param error has occurred.
 * @param  file: pointer to the source file name
 * @param  line: assert_param error line source number
 * @retval None
 */
void assert_failed(uint8_t *file, uint32_t line) {
  /* USER CODE BEGIN 6 */
  /* User can add his own implementation to report the file name and line
     number,
     ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
  /* USER CODE END 6 */
}
#endif /* USE_FULL_ASSERT */

/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
